/* Master 0, Slave 0, "R88D-1SN04H-ECT-03"
 * Vendor ID:       0x00000083
 * Product code:    0x00000139
 * Revision number: 0x00010002
 */

ec_pdo_entry_info_t slave_0_pdo_entries[] = {
    {0x6040, 0x00, 16}, /* Controlword */
    {0x607a, 0x00, 32}, /* Target position */
    {0x60b8, 0x00, 16}, /* Touch probe function */
    {0x60fe, 0x01, 32}, /* Physical outputs */
    {0x603f, 0x00, 16}, /* Error code */
    {0x6041, 0x00, 16}, /* Statusword */
    {0x6064, 0x00, 32}, /* Position actual value */
    {0x6077, 0x00, 16}, /* Torque actual value */
    {0x60f4, 0x00, 32}, /* Following error actual value */
    {0x60b9, 0x00, 16}, /* Touch probe status */
    {0x60ba, 0x00, 32}, /* Touch probe pos1 pos value */
    {0x60bc, 0x00, 32}, /* Touch probe pos2 pos value */
    {0x60fd, 0x00, 32}, /* Digital inputs */
};

ec_pdo_info_t slave_0_pdos[] = {
    {0x1701, 4, slave_0_pdo_entries + 0}, /* 258th receive PDO Mapping */
    {0x1b01, 9, slave_0_pdo_entries + 4}, /* 258th transmit PDO Mapping */
};

ec_sync_info_t slave_0_syncs[] = {
    {0, EC_DIR_OUTPUT, 0, NULL, EC_WD_DISABLE},
    {1, EC_DIR_INPUT, 0, NULL, EC_WD_DISABLE},
    {2, EC_DIR_OUTPUT, 1, slave_0_pdos + 0, EC_WD_ENABLE},
    {3, EC_DIR_INPUT, 1, slave_0_pdos + 1, EC_WD_DISABLE},
    {0xff}
};
